Light curtain lightless area acquisition system and method

Abstract

The present invention discloses a light curtain no-light region acquisition system and method. The light curtain no-light region acquisition system includes a light curtain data acquisition module and a no-light region acquisition module. The light curtain data acquisition module is used to acquire data of a light curtain emitting device and a receiving device. The no-light region acquisition module is connected to the light curtain data acquisition module and is used to identify the shape of the light curtain no-light region according to the data acquired by the light curtain data acquisition module. The light curtain no-light region acquisition system and method proposed by the present invention can accurately acquire the occlusion range of an object passing through the light curtain.

Description

Technical Field

[0001] The present invention belongs to the technical field of elevator light curtains, and relates to a light curtain system, in particular to a system and method for obtaining a lightless area of a light curtain. Background Art

[0002] Existing elevator light curtains include a transmitting end and a receiving end; the transmitting end is provided with a plurality of transmitting lamps, and the receiving end is provided with a plurality of receiving lamps. If the receiving lamps cannot receive data, it is determined that there is a person or an object between the elevator light curtains and the elevator main board is fed back; the elevator main board controls the elevator equipment not to close the door. Existing elevator light curtains do not have the function of scanning the shape of a human body or an object between the light curtains.

[0003] In view of this, there is an urgent need to design a new light curtain image generation method today to overcome at least some of the above-mentioned defects existing in the existing light curtain image generation methods. Summary of the Invention

[0004] The present invention provides a system and method for obtaining a lightless area of a light curtain, which can accurately obtain the occlusion range of an object passing through the light curtain.

[0005] To solve the above technical problems, according to one aspect of the present invention, the following technical solution is adopted:

[0006] A system for obtaining a lightless area of a light curtain, the system for obtaining a lightless area of a light curtain includes:

[0007] A light curtain data acquisition module for acquiring data of a light curtain device;

[0008] A lightless area acquisition module, connected to the light curtain data acquisition module, for identifying a lightless area of the light curtain according to the data acquired by the light curtain data acquisition module.

[0009] As an embodiment of the present invention, the lightless area acquisition module includes:

[0010] A light simulation generation unit for simulating and generating n light rays emitted by a transmitting unit in a light curtain device, where n is the number of light rays emitted by the transmitting unit in the light curtain device;

[0011] A vertical interval generation unit for making perpendicular lines to the horizontal plane for all intersections of all the simulated light rays to obtain m vertical intervals and n*(m + 1) intersections;

[0012] A light ray interval encoding unit for encoding in a set order in a part of each vertical interval of the light rays;

[0013] A closed figure enclosing unit for enclosing a closed triangle or quadrilateral by two adjacent encoded light rays and two adjacent perpendicular lines;

[0014] The lightless sub-region recognition unit is used to obtain each lightless sub-region. When the first side of the enclosed triangle is the intersection point of two adjacent coded light rays, it indicates that it is the starting part of a certain minimum lightless sub-region, and the polygon enclosed by the light rays with the same code in the vertical region of the second side needs to be fused. When the enclosed shape is a quadrilateral, it indicates that it is the middle part of a certain minimum lightless sub-region, and the same-code fusion of the adjacent vertical regions on both sides is required. When the second side of the enclosed triangle is the intersection point of two adjacent coded light rays, it indicates that it is the ending part of a certain minimum lightless sub-region, and the polygon enclosed by the light rays with the same code in the vertical region of the first side needs to be fused.

[0015] As an implementation manner of the present invention, the lightless region acquisition module further includes a sub-region fusion unit, which is used to fuse all lightless sub-regions to form a set of lightless regions where light does not pass through.

[0016] As an implementation manner of the present invention, the lightless region acquisition module is used to obtain at least one region enclosed by all unobstructed light rays; and use the at least one region enclosed by all unobstructed light rays obtained as the shape of the light curtain lightless region.

[0017] As an implementation manner of the present invention, the light curtain lightless region acquisition system further includes a modeling module, which is respectively connected to the light curtain data acquisition module and the lightless region acquisition module;

[0018] The modeling module is used to establish a mathematical model according to the specific arrangement of each reflection unit and each receiving unit in the light curtain device, the data received by each receiving unit, and the occlusion information;

[0019] The lightless region acquisition module is connected to the modeling module, inputs the data obtained by the light curtain data acquisition module into the mathematical model, and outputs the corresponding results, and the results include the position of the lightless region.

[0020] According to another aspect of the present invention, the following technical solution is adopted: A method for acquiring a light curtain lightless region, the method for acquiring a light curtain lightless region includes:

[0021] A light curtain data acquisition step of acquiring the data of the light curtain emitting device and the receiving device;

[0022] A lightless region acquisition step of identifying the shape of the light curtain lightless region according to the data obtained in the light curtain data acquisition step.

[0023] As an implementation manner of the present invention, the lightless region acquisition step includes:

[0024] Light simulation generation step: Simulate and generate n light rays emitted by the emission unit in the light curtain device, where n is the number of light rays emitted by the emission unit in the light curtain device;

[0025] Vertical interval generation step: For all intersection points of all the simulated light rays, draw perpendicular lines perpendicular to the horizontal plane to obtain m vertical intervals and n*(m + 1) intersection points;

[0026] Light ray interval encoding step: In the part within each interval of the light ray, encode it in a set order according to its order within the interval;

[0027] Closed figure enclosure step: Enclose a closed triangle or quadrilateral by two adjacent encoded light rays and two adjacent perpendicular lines;

[0028] No-light sub-region identification step: Obtain each no-light sub-region; When the first side of the enclosed triangle is the intersection point of two adjacent encoded light rays, it indicates the start part of a certain minimum region, and it is necessary to fuse the polygon enclosed by the light rays with the same code in the second-side vertical region; When the enclosed shape is a quadrilateral, it indicates the middle part of a certain minimum region, and both sides need to be fused with the same code in the adjacent vertical regions; When the second side of the enclosed triangle is the intersection point of two adjacent encoded light rays, it indicates the end part of a certain minimum region, and it is necessary to fuse the polygon enclosed by the light rays with the same code in the first-side vertical region;

[0029] Sub-region fusion step: Fuse all the no-light sub-regions to form a set of no-light regions where the light rays do not pass through.

[0030] The beneficial effects of the present invention are as follows: The light curtain no-light region acquisition system and method proposed by the present invention can accurately obtain the occlusion range of the object passing through the light curtain. Brief Description of the Drawings

[0031] Figure 1 It is a schematic diagram of the composition of the light curtain no-light region acquisition system in an embodiment of the present invention.

[0032] Figure 2 It is a flowchart of the light curtain no-light region acquisition method in an embodiment of the present invention.

[0033] Figure 3 It is a schematic diagram of generating simulated light rays in an embodiment of the present invention.

[0034] Figure 4 It is a schematic diagram of obtaining the elevator light curtain occlusion region in an embodiment of the present invention.

[0035] Figure 5 It is a schematic diagram of the light curtain rays in an embodiment of the present invention.

[0036] Figure 6Schematic diagram of the composition of the lightless area acquisition module in an embodiment of the present invention. Detailed implementation manners

[0037] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] To further understand the present invention, the preferred implementation manners of the present invention will be described below in conjunction with embodiments. However, it should be understood that these descriptions are only for further explaining the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0039] The description of this part only focuses on several typical embodiments, and the present invention is not limited to the scope described in the embodiments. The mutual replacement of the same or similar prior art means and some technical features in the embodiments is also within the scope of the description and protection of the present invention.

[0040] The expressions of the steps in each embodiment in the specification are only for convenience of description, and the implementation manner of the present application is not limited by the order of step implementation. "Connection" in the specification includes both direct connection and indirect connection.

[0041] The present invention discloses a light curtain lightless area acquisition system. Figure 1 Schematic diagram of the composition of the light curtain lightless area acquisition system in an embodiment of the present invention; please refer to Figure 1 , the light curtain lightless area acquisition system includes: a light curtain data acquisition module 1 and a lightless area acquisition module 2. The light curtain data acquisition module 1 is used to acquire data of the light curtain emitting device and the receiving device; the lightless area acquisition module 2 is connected to the light curtain data acquisition module 1 and is used to identify the shape of the light curtain lightless area according to the data acquired by the light curtain data acquisition module 1.

[0042] In an embodiment of the present invention, the lightless area acquisition module 2 is used to acquire at least one area surrounded by all unobstructed light rays; and use the at least one area surrounded by all unobstructed light rays as the shape of the light curtain lightless area.

[0043] In an embodiment of the present invention, the lightless area acquisition module includes a light attribute setting module, a second attribute unit acquisition module, a second attribute area generation module, and an edge supplement module.

[0044] The light attribute setting module is used to set the set attributes of the light curtain light corresponding lines according to the data acquired by the light curtain data acquisition module; for the unobstructed light rays, set the set attributes of the light rays to the first attribute; for the obstructed light rays, set the set attributes of the light rays to the second attribute. Here, the light attribute can be attributes such as the color, grayscale, solid line or dotted line of the light ray.

[0045] The second attribute unit acquisition module is used to acquire second attribute units each having a second attribute; the second attribute unit is a triangle or a quadrilateral formed by rays having a second attribute, and the second attribute unit is the smallest unit formed by rays having a second attribute and cannot be further divided into at least two smaller second attribute units.

[0046] The second attribute area generation module is used to merge adjacent second attribute units into a second attribute area. The attribute of the area formed by the rays here can be a color attribute, or other attributes such as transparency or gray scale.

[0047] The edge supplement module is used to merge third attribute units around the second attribute area and having a common side or a common vertex with the second attribute units in the second attribute area into the second attribute area to form a complete light curtain lightless area; the third attribute unit is formed by at least one line having a first attribute and at least one line of the second attribute unit located in the second attribute area. In addition, the connection line between adjacent emission lamps / reception lamps on the same light template can be used as an occluded ray when needed and used as a ray having a second attribute.

[0048] In one embodiment, the lightless area acquisition module 2 includes: a light ray color setting module 21, a second color unit acquisition module 22, a second color area generation module 23, and an edge supplement module 24.

[0049] The light ray color setting module 21 is used to set the color of the line corresponding to the light curtain light ray according to the data acquired by the light curtain data acquisition module; for the unoccluded light ray, the light ray color is set to the first color; for the occluded light ray, the light ray color is set to the second color. The second color unit acquisition module 22 is used to acquire each second color unit; the second color unit is a triangle or a quadrilateral formed by second color lines, and the second color unit is the smallest unit and cannot be further divided into at least two smaller second color units.

[0050] The second color area generation module 23 is used to merge adjacent second color units into a second color area. The edge supplement module 24 is used to merge third color units around the second color area into the second color area to form a complete light curtain lightless area; the third color unit is formed by at least one first color line and at least one line of the second color unit located in the second color area.

[0051] Figure 6 It is a schematic diagram of the composition of the lightless area acquisition module in an embodiment of the present invention; please refer to Figure 6, in an embodiment of the present invention, the light curtain occlusion area acquisition module 2 includes: a light ray simulation generation unit 201, a vertical interval generation unit 202, a light ray interval encoding unit 203, a closed figure enclosing unit 204, a lightless sub-region identification unit 205, and a sub-region fusion unit 206.

[0052] The light ray simulation generation unit 201 is used to simulate and generate n light rays emitted by the emitting unit in the light curtain device, where n is the number of light rays emitted by the emitting unit in the light curtain device. One emitting unit can emit several light rays towards receiving units at different heights. In one embodiment, the light ray simulation generation unit 201 is used to simulate the real situation in the system; according to the heights of the light curtain emitting lamps and receiving lamps from the ground, the lamp distance between each lamp, and the distance between two light curtains, simulate their arrangement in the system. If there is light information between each emitting lamp and receiving lamp, simulate a straight line in the system to represent it. Encode the light rays according to the actual situation, and transmit the occlusion information of the light rays in the actual situation to the system, and the corresponding line will mark whether it is occluded. As Figure 3 shown, the solid line represents the occluded light ray, and the dashed line represents the unoccluded light ray.

[0053] The vertical interval generation unit 202 is used to draw perpendicular lines to all the intersection points of all the simulated light rays, obtaining m vertical intervals and n*(m + 1) intersection points. Here, the vertical interval can refer to two perpendicular lines perpendicular to the horizontal plane. After forming a plane, all the regions (which can extend to infinity) included between the two lines. The light ray interval encoding unit 203 is used to encode the parts within each vertical interval of the light rays in a set order. The closed figure enclosing unit 204 is used to enclose a closed triangle or quadrilateral by two adjacent light rays and two adjacent perpendicular lines.

[0054] The lightless sub-region identification unit 205 is used to obtain each lightless sub-region; when the first side of the enclosed triangle is the intersection point of two adjacent encoded light rays, it indicates that it is the starting part of a certain minimum region, and it is necessary to fuse the polygon enclosed by the light rays with the same encoding in the second-side vertical region; when the enclosed shape is a quadrilateral, it indicates that it is the middle part of a certain minimum region, and both sides need to be fused with the same encoding in the adjacent vertical regions; when the second side of the enclosed triangle is the intersection point of two adjacent encoded light rays, it indicates that it is the ending part of a certain minimum region, and it is necessary to fuse the polygon enclosed by the light rays with the same encoding in the first-side vertical region.

[0055] The sub-region fusion unit 206 is used to fuse all the lightless sub-regions to form a set of lightless regions where the light rays do not pass through (as Figure 4 shown).

[0056] In an embodiment of the present invention, the light curtain lightless area acquisition system may further include: a light curtain device, including a first light curtain board and a second light curtain board; at least one transmitting unit or / and at least one receiving unit is provided on the first light curtain board; at least one transmitting unit or / and at least one receiving unit is provided on the second light curtain board. Among the transmitting units, the light energy emitted by at least one transmitting unit is received by multiple receiving units; the light curtain data acquisition module is connected to each receiving unit and receives the data received by each receiving unit.

[0057] The present invention also discloses a method for acquiring a lightless area of a light curtain. Figure 2 It is a flowchart of the method for acquiring a lightless area of a light curtain in an embodiment of the present invention; please refer to Figure 2 The method for acquiring a lightless area of a light curtain includes:

[0058]

Step S1

[0059]

Step S2

[0060] In an embodiment, the occluder includes an object, a person, other animals, etc., as long as it can be detected by the light curtain, it can be used as an occluder.

[0061] In an embodiment of the present invention, in step S2, at least one area surrounded by all unoccluded light rays is acquired; and at least one area surrounded by all unoccluded light rays is used as the shape of the lightless area of the light curtain. In an embodiment, step S2 specifically includes:

[0062] Step S21, light ray color setting step, setting the color of the light ray corresponding lines of the light curtain according to the data acquired by the light curtain data acquisition module; for the unoccluded light rays, setting the light ray color (of course, other attributes besides color can also be used) to the first color; for the occluded light rays, setting the light ray color to the second color;

[0063] Step S22, second color unit acquisition step, acquiring each second color unit; the second color unit is a triangle or a quadrilateral formed by the second color lines, and the second color unit is the smallest unit and cannot be divided into at least two smaller second color units;

[0064] Step S23, second color area generation step, merging adjacent second color units into a second color area (other attributes besides color can also be used);

[0065] Step S24, Edge Supplementary Step: Merge the third color units around the second color area into the second color area to form a complete light curtain lightless area; the third color units are formed by at least one first color line and at least one line of the second color units within the second color area.

[0066] In another embodiment of the present invention, step S2 specifically includes:

[0067] Step S201, Light Ray Simulation Generation Step: Simulate and generate n light rays emitted by the emitting units in the light curtain device, where n is the number of light rays emitted by the emitting units in the light curtain device;

[0068] Step S202, Vertical Interval Generation Step: Draw perpendicular lines to all the intersection points of all the simulated light rays to obtain m vertical intervals and n*(m + 1) intersection points;

[0069] Step S203, Light Ray Interval Encoding Step: In the part within each interval of the light ray, encode it in a set order according to its order within the interval;

[0070] Step S204, Enclosing Closed Figure Step: Enclose a closed triangle or quadrilateral by two adjacent encoded light rays and two adjacent perpendicular lines;

[0071] Step S205, Lightless Sub - region Identification Step: Obtain each lightless sub - region; when the first side of the enclosed triangle is the intersection point of two adjacent encoded light rays, it indicates the start part of a certain minimum region, and the polygon enclosed by the same - encoded light rays in the second - side vertical region needs to be fused; when the enclosed figure is a quadrilateral, it indicates the middle part of a certain minimum region, and the same - encoded fusions of the adjacent vertical regions on both sides are required; when the second side of the enclosed triangle is the intersection point of two adjacent encoded light rays, it indicates the end part of a certain minimum region, and the polygon enclosed by the same - encoded light rays in the first - side vertical region needs to be fused;

[0072] Step S206, Sub - region Fusion Step: Fuse all the lightless sub - regions to form a set of lightless areas where the light rays do not pass through.

[0073] In yet another embodiment of the present invention, the specific process from data analysis and processing in the server to the processing before display in the display module:

[0074]

Step 1

[0075]

Step 2

[0076]

Step 3

[0077] Find the area S enclosed by all unoccluded light rays in the light ray simulation model according to method (1) (as Figure 5 shown). Count whether each unoccluded light ray area S is penetrated by occluded light rays (it can be detected at the edge of S that a certain occluded light ray intersects it at two intersection points. If it intersects at one point, there must be no object at the intersection point). The information is summarized as L. That is, each figure S has an array of length N with values ranging from 0 to 1, recording the lines that penetrate the figure S. If it penetrates, it is 1, and if it does not penetrate, it is 0.

[0078] Method (1): In the light rays of the light curtain, assume there are 2 transmitting devices and 2 receiving devices. The virtual model established according to their corresponding relationships is as Figure 4 shown, where the 4 light rays are numbered A, B, C, and D respectively. Perpendicular lines are drawn at all the places where there are intersection points. In this case, there are 3 perpendicular lines V1, V2, and V3. It can be seen that the light rays divide the plane into four regions, namely the upper, lower, left, and right triangles. The upper triangle is composed of light rays A and B from V1 to V2 and light rays A and C from V2 to V3. If the four light rays A, B, C, and D are sorted from top to bottom, then in the part from V1 to V2, A, B, C, and D correspond to 1, 2, 3, and 4 respectively, and in the part from V2 to V3, they correspond to 1, 3, 2, and 4 respectively. At this time, it can be found that the upper triangle is composed of the light rays ranked 1 and 2 in each region. When the light rays 1 and 2 in this region intersect, it represents the end and start of a figure of the light rays 1 - 2 at this time. Similarly, the left triangle is enclosed by the light rays ranked 2 and 3 from V1 to V2. The intersection of the two lines at V2 represents the end of the left triangle figure and the start of the right triangle figure. And so on.

[0079] When there are N such lines (assuming that N lines do not block light), find the perpendicular lines corresponding to the intersection points of all N lines, that is, the set G composed of the x-axis coordinates of the intersection points. Suppose there are M coordinates. Obtain the y-axis values of the intersection points of the N lines and the M perpendicular lines. A matrix of N * M is obtained. In the M columns, sort each column according to the values in the matrix, and the sorted columns replace the original columns.

[0080] In the matrix, for N rows, perform calculations for every two adjacent rows: If the values of two rows in a certain column are the same, it means the end of the current polygon and the start of the next polygon; if the values of two rows in a certain column are different, record their corresponding x-axis coordinates (obtained from G) and y-axis values (obtained from the N * M matrix). When a polygon ends, record it in the polygon set S. Finally, the set S records the edge coordinates of each polygon.

[0081] In summary, the light curtain lightless area acquisition system and method proposed by the present invention can accurately acquire the range of the lightless area of an object passing through the light curtain.

[0082] It should be noted that this application can be implemented in software and / or a combination of software and hardware; for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of this application can be executed by a processor to implement the above steps or functions. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium; for example, a RAM memory, a magnetic or optical drive, or a floppy disk and similar devices. Additionally, some steps or functions of this application can be implemented using hardware; for example, as a circuit that cooperates with the processor to execute each step or function.

[0083] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0084] The description and application of the present invention herein are illustrative and are not intended to limit the scope of the present invention to the above embodiments. The effects or advantages involved in the embodiments may not be reflected in the embodiments due to various factors, and the description of the effects or advantages is not used to limit the embodiments. Modifications and changes to the disclosed embodiments are possible, and various components of substitution and equivalence of the embodiments are known to those of ordinary skill in the art. Those skilled in the art should be clear that, without departing from the spirit or essential characteristics of the present invention, the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts. Other modifications and changes can be made to the disclosed embodiments without departing from the scope and spirit of the present invention.

Claims

1. A light curtain lightless area acquisition system, characterized in that The light curtain lightless area acquisition system includes: A light curtain data acquisition module for acquiring data of the light curtain device; A lightless area acquisition module connected to the light curtain data acquisition module for identifying the lightless area of the light curtain according to the data acquired by the light curtain data acquisition module; The lightless area acquisition module includes: A light simulation generation unit for simulating and generating n light rays emitted by the emission unit in the light curtain device, where n is the number of light rays emitted by the emission unit in the light curtain device; A vertical interval generation unit for drawing perpendicular lines perpendicular to the horizontal plane for all intersections of all the simulated light rays to obtain m vertical intervals and n*(m + 1) intersections; A light ray interval encoding unit for encoding in a set order the parts within each vertical interval of the light rays; A closed figure enclosing unit for enclosing a closed triangle or quadrilateral by two adjacent encoded light rays and two adjacent perpendicular lines; A lightless sub-area identification unit for obtaining each lightless sub-area; when the first side of the enclosed triangle is the intersection of two adjacent encoded light rays, it indicates that it is the starting part of a certain minimum lightless sub-area, and the polygon enclosed by the light rays with the same encoding in the second side vertical area needs to be fused; when the enclosed figure is a quadrilateral, it indicates that it is the middle part of a certain minimum lightless sub-area, and the same encoding fusions in the adjacent vertical areas on both sides are required; when the second side of the enclosed triangle is the intersection of two adjacent encoded light rays, it indicates that it is the ending part of a certain minimum lightless sub-area, and the polygon enclosed by the light rays with the same encoding in the first side vertical area needs to be fused.

2. The light curtain lightless area acquisition system according to claim 1, wherein: The lightless area acquisition module further includes a sub-area fusion unit for fusing all the lightless sub-areas to form a set of lightless areas where light rays do not pass through.

3. The light curtain lightless area acquisition system according to claim 1, wherein: The lightless area acquisition module is used to acquire at least one area enclosed by all the unobstructed light rays; and take the at least one area enclosed by all the unobstructed light rays as the shape of the light curtain lightless area.

4. The light curtain lightless area acquisition system according to claim 1, wherein: The light curtain lightless area acquisition system further includes a modeling module, which is respectively connected to the light curtain data acquisition module and the lightless area acquisition module; The modeling module is used to establish a mathematical model according to the specific arrangements of each reflection unit and each receiving unit in the light curtain device, the data received by each receiving unit, and the occlusion information; The lightless area acquisition module is connected to the modeling module, inputs the data acquired by the light curtain data acquisition module into the mathematical model, and outputs the corresponding results, and the results include the positions of the lightless areas.

5. A method for obtaining a lightless area of a light curtain, characterized in that, The light curtain lightless area acquisition method includes: A light curtain data acquisition step of acquiring data of the light curtain emission device and the receiving device; A lightless area acquisition step of identifying the shape of the light curtain lightless area according to the data acquired in the light curtain data acquisition step; The lightless area acquisition step includes: Light simulation generation step, simulating and generating n light rays emitted by the emission unit in the light curtain device, where n is the number of light rays emitted by the emission unit in the light curtain device; Vertical interval generation step, drawing perpendicular lines to the horizontal plane for all intersection points of all the simulated light rays, obtaining m vertical intervals and n*(m + 1) intersection points; Light ray interval coding step, coding in sequence according to a set order for the parts within each interval of the light rays; Enclosing of closed figure step, enclosing a closed triangle or quadrilateral by two adjacent coded light rays and two adjacent perpendicular lines; Identification step of light-ray-free sub-region, obtaining each light-ray-free sub-region; when the first side of the enclosed triangle is the intersection point of two adjacent coded light rays, it indicates that it is the starting part of a certain minimum region, and it is necessary to fuse the polygon enclosed by the light rays with the same code in the second-side vertical region; when the enclosed figure is a quadrilateral, it indicates that it is the middle part of a certain minimum region, and both sides need to be fused with the same code in the adjacent vertical regions; when the second side of the enclosed triangle is the intersection point of two adjacent coded light rays, it indicates that it is the ending part of a certain minimum region, and it is necessary to fuse the polygon enclosed by the light rays with the same code in the first-side vertical region; Sub-region fusion step, fusing all the light-ray-free sub-regions to form a set of light-ray-free regions where the light rays do not pass through.

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